Interactive method and system of movable platform, movable platform, and storage medium

Abstract

An interactive method for a movable platform, an interactive system, a movable platform and a storage medium including the interactive method. The interactive method may include projecting three-dimensional point cloud data collected by a sensor into image data collected by a camera for fusion processing to obtain a fused image; rendering the fused image to determine a three-dimensional visualization image of a surrounding environment where the movable platform is located; and outputting the three-dimensional visualization image of the surrounding environment where the movable platform is located on a display interface.

What is claimed is: 
     
       1. An interactive method for a movable platform, the interactive method comprising:
 projecting three-dimensional point cloud data collected by a sensor provided on the movable platform into image data collected by a camera provided on the movable platform for fusion processing to obtain a fused image data; 
 rendering the fused image data to determine a three-dimensional visualization image of a surrounding environment where the movable platform is located, wherein the three-dimensional visualization image includes a visualization of an obstacle distanced from the movable platform in the surrounding environment; and 
 outputting the three-dimensional visualization image of the obstacle distanced from the movable platform in the surrounding environment where the movable platform is located to display the three-dimensional visualization image on a display interface, 
 wherein the projecting three-dimensional point cloud data collected by the sensor provided on the movable platform into image data collected by the camera provided on the movable platform for fusion processing to obtain the fused image data comprises: 
 determining a coordinate transformation relationship between the image data and the three-dimensional point cloud data; 
 based on the coordinate transformation relationship, transforming the image data and the three-dimensional point cloud data into a same coordinate system; and 
 project the three-dimensional point cloud data transformed into the same coordinate system into the image data for fusion processing to obtain the fused image. 
 
     
     
       2. The interactive method of  claim 1 , wherein the display interface comprises a display area; and the outputting the three-dimensional visualization image of the surrounding environment where the movable platform is located on the display interface comprises:
 outputting the three-dimensional visualization image of the surrounding environment where the movable platform is located in the display area of the display interface. 
 
     
     
       3. The interactive method of  claim 2 , wherein the display interface further comprises a touch control area, and the touch control area comprises a plurality of angle display icons and a plurality of sensor type icons; and the outputting the three-dimensional visualization image of the surrounding environment where the movable platform is located in the display area of the display interface comprises:
 acquiring a touch operation of a user on at least one of the plurality of angle display icons and/or at least one of the plurality of sensor type icons in the touch control area; and 
 generating an angle display instruction corresponding to the touch operation based on the touch operation, and displaying the three-dimensional visualization image in the display area of the display interface based on a display viewing angle indicated by the angle display instruction. 
 
     
     
       4. The interactive method of  claim 1 , wherein the outputting the three-dimensional visualization image of the surrounding environment where the movable platform is located on the display interface further comprises:
 acquiring a current motion state of the movable platform; 
 determining a display viewing angle of the three-dimensional visualization image based on the current motion state; and 
 displaying the three-dimensional visualization image in a display area of the display interface based on the display viewing angle. 
 
     
     
       5. An interactive system for a movable platform, comprising a display interface and one or more processors, collectively or individually, configured to:
 project three-dimensional point cloud data collected by a sensor provided on the movable platform into image data collected by a camera provided on the movable platform for fusion processing to obtain a fused image data; 
 render the fused image data to determine a three-dimensional visualization image of a surrounding environment where the movable platform is located, wherein the three-dimensional visualization image includes a visualization of an obstacle distanced from the movable platform in the surrounding environment; and 
 output the three-dimensional visualization image of the obstacle distanced from the movable platform in the surrounding environment where the movable platform is located to display the three-dimensional visualization image on a display interface, 
 wherein when the one or more processors are configured to project the three-dimensional point cloud data collected by the sensor to the image data collected by the camera for fusion processing to obtain the fused image, the one or more processors are further configured to: 
 determine a coordinate transformation relationship between the image data and the three-dimensional point cloud data; 
 based on the coordinate transformation relationship, transform the image data and the three-dimensional point cloud data into a same coordinate system; and 
 project the three-dimensional point cloud data transformed into the same coordinate system into the image data for fusion processing to obtain the fused image. 
 
     
     
       6. The interactive system of  claim 5 , wherein the display interface comprises a display area; and when the one or more processors are configured to output the three-dimensional visualization image of the surrounding environment where the movable platform is located on the display interface, the one or more processors are configured to:
 output the three-dimensional visualization image of the surrounding environment where the movable platform is located in the display area of the display interface. 
 
     
     
       7. The interactive system of  claim 6 , wherein the display interface further comprises a touch control area, and the touch control area comprises a plurality of angle display icons and a plurality of sensor type icons; and when the one or more processors are configured to output the three-dimensional visualization image of the surrounding environment where the movable platform is located in the display area of the display interface, the one or more processors are configured to:
 acquire a touch operation of a user on at least one of the plurality of angle display icons and/or at least one of the plurality of sensor type icons in the touch control area; and 
 generate an angle display instruction corresponding to the touch operation based on the touch operation, and display the three-dimensional visualization image in the display area of the display interface based on a display viewing angle indicated by the angle display instruction. 
 
     
     
       8. The interactive system of  claim 5 , wherein when the one or more processors are configured to output the three-dimensional visualization image of the surrounding environment where the movable platform is located on the display interface, the one or more processors are further configured to:
 acquire a current motion state of the movable platform, 
 determine a display viewing angle of the three-dimensional visualization image based on the current motion state; and 
 display the three-dimensional visualization image in a display area of the display interface based on the display viewing angle. 
 
     
     
       9. The interactive system of  claim 8 , wherein the current motion state of the movable platform is at least one of a reversing state, a lane changing state, or an accelerating state,
 when the current motion state of the movable platform is in the reversing state, the display viewing angle of the three-dimensional visualization image is determined to display a three-dimensional visualization image within a first preset area distanced from a rear of the movable platform; 
 when the current motion state of the movable platform is in the lane changing state, the display viewing angle of the three-dimensional visualization image is determined to display a three-dimensional visualization image within a second preset area including a lane to which the movable platform is changed; and/or 
 when the current motion state of the movable platform is in the accelerating state, the display viewing angle of the three-dimensional visualization image is determined to display a three-dimensional visualization image within a third preset area distanced from a head of the movable platform. 
 
     
     
       10. The interactive system of  claim 7 , wherein before the one or more processors are configured to project the three-dimensional point cloud data collected by the sensor to the image data collected by the camera for fusion processing to obtain the fused image, the one or more processors are further configured to:
 acquire a touch operation of a user on at least one of the plurality of sensor type icons in the touch control area; and 
 determine a target sensor corresponding to the at least one of the plurality of sensor type icons selected by the touch operation, and acquire the three-dimensional point cloud data collected by the target sensor. 
 
     
     
       11. The interactive system of  claim 5 , wherein when the one or more processors are configured to render the fused image to determine the three-dimensional visualization image of the surrounding environment where the movable platform is located, the one or more processors are configured to:
 project the fused image onto a two-dimensional plane to obtain at least one projection image; 
 determine obstacle information of the surrounding environment where the movable platform is located based on the at least one projection image; and 
 determine the three-dimensional visualization image based on the obstacle information. 
 
     
     
       12. A movable platform, comprising:
 a body; 
 a power system provided on the body to provide mobile power for the movable platform; and 
 a processor configured to: 
 project three-dimensional point cloud data collected by a sensor provided on the movable platform into image data collected by a camera provided on the movable platform for fusion processing to obtain a fused image data; 
 render the fused image data to determine a three-dimensional visualization image of a surrounding environment where the movable platform is located, wherein the three-dimensional visualization image includes a visualization of an obstacle distanced from the movable platform in the surrounding environment; and 
 output the three-dimensional visualization image of the obstacle distanced from the movable platform in the surrounding environment where the movable platform is located to display the three-dimensional visualization image on a display interface, 
 wherein when the processor is configured to project the three-dimensional point cloud data collected by the sensor to the image data collected by the camera for fusion processing to obtain the fused image, the processor is configured to: 
 determine a coordinate transformation relationship between the image data and the three-dimensional point cloud data; 
 based on the coordinate transformation relationship, transform the image data and the three-dimensional point cloud data into a same coordinate system; and 
 project the three-dimensional point cloud data transformed into the same coordinate system into the image data for fusion processing to obtain the fused image. 
 
     
     
       13. The movable platform of  claim 12 , wherein the display interface comprises a display area; and when the processor is configured to output the three-dimensional visualization image of the surrounding environment where the movable platform is located on the display interface, the processor is configured to:
 output the three-dimensional visualization image of the surrounding environment where the movable platform is located in the display area of the display interface. 
 
     
     
       14. The movable platform of  claim 13 , wherein the display interface further comprises a touch control area, and the touch control area comprises a plurality of angle display icons and a plurality of sensor type icons; and when the processor is configured to output the three-dimensional visualization image of the surrounding environment where the movable platform is located in the display area of the display interface, the processor is configured to:
 acquire a touch operation of a user on at least one of the plurality of angle display icons and/or at least one of the plurality of sensor type icons in the touch control area; and 
 generate an angle display instruction corresponding to the touch operation based on the touch operation, and display the three-dimensional visualization image in the display area of the display interface based on a display viewing angle indicated by the angle display instruction. 
 
     
     
       15. The movable platform of  claim 12 , wherein when the processor is configured to output the three-dimensional visualization image of the surrounding environment where the movable platform is located on the display interface, the processor is further configured to:
 acquire a current motion state of the movable platform; 
 determine a display viewing angle of the three-dimensional visualization image based on the current motion state; and 
 display the three-dimensional visualization image in a display area of the display interface based on the display viewing angle. 
 
     
     
       16. The movable platform of  claim 15 , wherein the current motion state of the movable platform is at least one of a reversing state, a lane changing state, or an accelerating state,
 when the current motion state of the movable platform is in the reversing state, the display viewing angle of the three-dimensional visualization image is determined to display a three-dimensional visualization image within a first preset area distanced from a rear of the movable platform; 
 when the current motion state of the movable platform is in the lane changing state, the display viewing angle of the three-dimensional visualization image is determined to display a three-dimensional visualization image within a second preset area including a lane to which the movable platform is changed; and/or 
 when the current motion state of the movable platform is in the accelerating state, the display viewing angle of the three-dimensional visualization image is determined to display a three-dimensional visualization image within a third preset area distanced from a head of the movable platform. 
 
     
     
       17. The movable platform of  claim 14 , wherein before the processor is configured to project the three-dimensional point cloud data collected by the sensor to the image data collected by the camera for fusion processing to obtain the fused image, the processor is further configured to:
 acquire a touch operation of a user on at least one of the plurality of sensor type icons in the touch control area; and 
 determine a target sensor corresponding to the at least one of the plurality of sensor type icons selected by the touch operation, and acquire the three-dimensional point cloud data collected by the target sensor. 
 
     
     
       18. The movable platform of  claim 12 , wherein when the processor is configured to render the fused image to determine the three-dimensional visualization image of the surrounding environment where the movable platform is located, the processor is configured to:
 project the fused image onto a two-dimensional plane to obtain at least one projection image; 
 determine obstacle information of the surrounding environment where the movable platform is located based on the at least one projection image; and 
 determine the three-dimensional visualization image based on the obstacle information.